Yaskawa SGDH Linear Sigma Series User Manual

Σ-II SeriesSGDH User’s Manual Supplement for Linear Sigma SeriesUpon receipt of the product and prior to initial operation, read these instructions th

xWiring• Securely tighten the cable connector screws and securing mechanism. If the connector screws and securing mechanism are not secure, they

4 SERVOPACK Specifications and Dimensional Drawings4.1.1 Single-phase/Three-phase 200 V4-24.1 SERVOPACK Ratings and Specifications4.1.1 Single-pha

4.1 SERVOPACK Ratings and Specifications4-344.1.3 SERVOPACK Ratings and SpecificationsBasic Specifi-cationsControl Method Single or three-phase full

4 SERVOPACK Specifications and Dimensional Drawings4.1.3 SERVOPACK Ratings and Specifications4-4* 1. Use the SERVOPACK within the ambient temperatu

4.2 SERVOPACK Installation4-544.2 SERVOPACK InstallationThe SGDH SERVOPACKs can be mounted on a base, rack or duct-ventilated. Incorrect installatio

4 SERVOPACK Specifications and Dimensional Drawings4-6Orientation Install the SERVOPACK perpendicular to the wall as shown in the figure. The SERVOPA

4.3 SERVOPACK Internal Block Diagrams4-744.3 SERVOPACK Internal Block DiagramsThe following diagrams show the SERVOPACK internal blocks.4.3.1 Singl

4 SERVOPACK Specifications and Dimensional Drawings4.3.2 Three-phase 200 V, 500 W to 1.5 kW Models4-84.3.2 Three-phase 200 V, 500 W to 1.5 kW Model

4.3 SERVOPACK Internal Block Diagrams4-944.3.4 Three-phase 200 V, 7.5 kW Models* 220 VAC for the 7.5 kW models.4.3.5 Three-phase 400 V, 500 W to 3

4 SERVOPACK Specifications and Dimensional Drawings4.3.6 Three-phase 400 V, 5.0 kW Model4-104.3.6 Three-phase 400 V, 5.0 kW Model4.3.7 Three-phase

4.4 SERVOPACK’s Power Supply Capacities and Power Losses4-1144.4 SERVOPACK’s Power Supply Capacities and Power LossesThe following table shows SERVO

xiOperation• Install external breakers or other safety devices against short-circuiting in external wiring.Failure to observe this caution may resul

4 SERVOPACK Specifications and Dimensional Drawings4-124.5 SERVOPACK Overload Characteristics and Allowable Load Mass4.5.1 Overload Characteristics

4.5 SERVOPACK Overload Characteristics and Allowable Load Mass4-1344.5.2 Starting Time and Stopping TimeThe starting time tr and the stopping time t

4 SERVOPACK Specifications and Dimensional Drawings4.5.2 Starting Time and Stopping Time4-144.6 SERVOPACK Dimensional DrawingsSERVOPACK dimensional

4.7 Dimensional Drawings of Base-mounted SERVOPACK Model4-1544.7 Dimensional Drawings of Base-mounted SERVOPACK Model4.7.1 Single-phase 200 V: 50 W

4 SERVOPACK Specifications and Dimensional Drawings4.7.2 Single-phase 200 V: 400 W (04AE)4-164.7.2 Single-phase 200 V: 400 W (04AE)149.5±0.5 (5.89±

4.7 Dimensional Drawings of Base-mounted SERVOPACK Model4-1744.7.3 Three-phase 200 V: 500 W/750 W/1.0 kW (05AE/08AE/10AE)CN394.4 (3.72) 90 (3.54)5.5

4 SERVOPACK Specifications and Dimensional Drawings4.7.4 Three-phase 200 V: 1.5 kW (15AE) Three-phase 400 V: 500 W/750 W/1.0 kW/1.5 kW (05DE/08DE/10

4.7 Dimensional Drawings of Base-mounted SERVOPACK Model4-1944.7.5 Three-phase 200 V: 2.0 kW/3.0 kW (20AE/30AE)Three-phase 400 V: 2.0 kW/3.0 kW (20D

4 SERVOPACK Specifications and Dimensional Drawings4.7.6 Three-phase 200 V: 5.0 kW (50AE) Three-phase 400 V: 5.0 kW (50DE)4-204.7.6 Three-phase 200

4.7 Dimensional Drawings of Base-mounted SERVOPACK Model4-2144.7.7 Three-phase 200 V: 7.5 kW (75AE)Cooling fan107 (4.21)27(1.06)10 (0.39)21 (0.83)Ma

xiiMaintenance and InspectionDisposalGeneral Precautions• When replacing the SERVOPACK, transfer the previous SERVOPACK parameters to the new

4 SERVOPACK Specifications and Dimensional Drawings4.7.8 Three-phase 400 V: 7.5 kW (75DE)4-224.7.8 Three-phase 400 V: 7.5 kW (75DE)Cooling fan10 (0

5-155Specifications and DimensionalDrawings of Serial Converter Unit5.1 Serial Converter Unit Specifications - - - - - - - - - - - - - - - - - - - -

5 Specifications and Dimensional Drawings of Serial Converter Unit 5-25.1 Serial Converter Unit Specifications(1) Model: JZDP-D00-(2) Character

5.2 Analog Signal Input Timing5-355.2 Analog Signal Input TimingThe following figure shows the input timing of the analog signals. When the cos and

5 Specifications and Dimensional Drawings of Serial Converter Unit5.3.1 Linear Scale with Cable for Hall Sensor by Heidenhain5-45.3 Dimensional Dra

5.3 Dimensional Drawings of Serial Converter Unit5-55Note: 1. Do not use empty pins.2. The linear scale (analog 1VP-P output, D-sub 15-pin, male) b

5 Specifications and Dimensional Drawings of Serial Converter Unit5.3.2 Linear Scale with Cable for Hall Sensor by Renishaw5-65.3.2 Linear Scale wi

5.3 Dimensional Drawings of Serial Converter Unit5-75Note: 1. Do not use empty pins.2. The linear scale (analog 1VP-P output, D-sub 15-pin, male) b

5 Specifications and Dimensional Drawings of Serial Converter Unit5.3.2 Linear Scale with Cable for Hall Sensor by Renishaw5-8

6-166Specifications and DimensionalDrawings of Cables andPeripheral Devices6.1 Linear Servomotor Main Circuit Cables - - - - - - - - - - - - - - - - -

xiiiCONTENTSAbout this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iiiRelate

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6-26.1 Linear Servomotor Main Circuit Cables(1) JZSP-CLN11 Cables(a) Cab

6.1 Linear Servomotor Main Circuit Cables6-36(2) JZSP-CLN21 Cables(a) Cable Type(b) Wiring SpecificationsUVWGCable (UL2570)AWG14/4C50 (1.97)Finished

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6-4(3) JZSP-CLN39 CablesThe linear servomotor end of the JZSP-CLN39 cable

6.1 Linear Servomotor Main Circuit Cables6-56(4) JZSP-CLN39 Cable ConnectorsContact Yaskawa Controls Co., Ltd.(a) MS3106B Straight Plug with front-sh

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6-6(d) MS3057A-12A Cable Clamp With Rubber Bushing

6.2 Cables for Connecting Serial Converter Units6-766.2 Cables for Connecting Serial Converter Units(1) Cable Type(2) Dimensional Drawing(3) Specifi

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6-86.3 Cables for Connecting Linear Scales(1) Cable Type(2) Dimensional

6.4 Cables for Connecting Hall Sensors6-966.4 Cables for Connecting Hall Sensors(1) Cable Type(2) Dimensional Drawing(3) SpecificationsType Length (

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices 6-106.5 Flexible Cables(1) Life of Flexible CableThe flexible cable supp

6.5 Flexible Cables6-116(b) Fixing methodDo not fix the moving points of the flexible cable, or stress on the fixed points may cause early disconnec-

xiv2.6.4 Regenerative Resistors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-132.6.5 Lin

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices6.6.1 Cable Types6-126.6 SERVOPACK Main Circuit Wire Size1. Wire sizes w

6.6 SERVOPACK Main Circuit Wire Size6-1366.6.2 Single-phase 200 V6.6.3 Three-phase 200 VExternal Terminal NameTerminal SymbolSERVOPACK Model SGDH-A

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices6.6.4 Three-phase 400 V6-146.6.4 Three-phase 400 VExternal Terminal NameT

6.7 I/O Signal Cables for CN1 Connector6-1566.7 I/O Signal Cables for CN1 Connector6.7.1 Standard CablesFor the connection diagram, refer to 6.7.3

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices6.7.2 Connector Type and Cable Size6-16(2) Dimensional Drawing of Connecto

6.7 I/O Signal Cables for CN1 Connector6-1766.7.3 Connection DiagramSGSG−SENV-REFSGPULS/PULST-REFSGSIGN/SIGN−/CLRCLR−−−PCO/PCO−−−−/V-CMP+/V-CMP-/TGO

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices6.8.1 Cables for Connecting Personal Computers6-186.8 Peripheral Devices6

6.8 Peripheral Devices6-196(3) Other Types of the Applicable Connection Cables: JZSP-CMS00-The following cable is applicable for Sigma II..6.8.3 Ca

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices6.8.4 Connector Terminal Block Converter Unit6-206.8.4 Connector Terminal

6.8 Peripheral Devices6-2166.8.5 External Regenerative ResistorRegenerative resistors for SERVOPACKs are internally or externally mounted as shown i

xv4.3.4 Three-phase 200 V, 7.5 kW Models- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-94.3.5 Three-phase 40

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices6.8.6 Regenerative Resistor6-226.8.6 Regenerative Resistor(1) ModelsThe S

6.8 Peripheral Devices6-2366.8.7 Molded-case Circuit Breaker (MCCB)Note the following descriptions when selecting a molded-case circuit breaker. Ci

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices6.8.8 Noise Filter6-246.8.8 Noise FilterThe noise filters model FN and FS

6.8 Peripheral Devices6-256(2) Three-phase, 200/400 VSelect one of the following noise filters according to SERVOPACK capacity. For more details, re

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices6.8.8 Noise Filter6-26(b) FMAC SeriesModel FMAC-0934-5010 FMAC-0953-6410Di

6.8 Peripheral Devices6-276(c) FS SeriesModel FS5559-35-33Dimensional DrawingsExternal Dimensions in mm (in)Symbol DimensionsA330 (12.99)B85 (3.35)C3

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices6.8.9 DC Reactor for Harmonic Suppression6-286.8.9 DC Reactor for Harmoni

6.8 Peripheral Devices6-296(2) Dimensional DrawingsDC Reactor ModelDimensions in mm (in) Approx. Mass in kg (lb)ABCDEFGφH φIX505950 (1.97)74 (2.91)12

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices6.8.10 MECHATROLINK application module6-306.8.10 MECHATROLINK application

6.8 Peripheral Devices6-3166.8.11 DeviceNet application module(1) Model: JUSP-NS300(2) Specifications(3) Dimensional DrawingsItem DetailsApplicable

xvi6.5 Flexible Cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-106.6 SERVOPACK Main Circuit

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices6.8.12 PROFIBUS-DP application module6-326.8.12 PROFIBUS-DP application m

6.8 Peripheral Devices6-336(3) Dimensional Drawings(24) (0.94)CN11CN620(0.79)(100)(3.94)5409612783NS5005409612783X10X1DRCN11CN4142(5.59)M4133 (5.24)N

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices6.8.13 INDEXER application module6-346.8.13 INDEXER application module(1)

6.8 Peripheral Devices6-356(3) Dimensional DrawingsNS600142 (5.59)(100) (3.94)(2) (0.08)20 (0.79)(24) (0.94)CN7Units: mm (in) Approx. mass: 0.2

6 Specifications and Dimensional Drawings of Cables and Peripheral Devices6.8.13 INDEXER application module6-36

7-177Wiring7.1 Linear Servomotor Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27.1.1 Introduction - - - - - - - - -

7 Wiring7.1.1 Introduction7-27.1 Linear Servomotor Installation7.1.1 IntroductionInstall the linear servomotor according to the following precauti

7.1 Linear Servomotor Installation7-37• When unpacking and installing magnetic way, check that no metal fragments or other magnetic objects are pres

7 Wiring7.1.2 SGLGW and SGLGM Linear Servomotors (Coreless Types)7-47.1.2 SGLGW and SGLGM Linear Servomotors (Coreless Types)(1) Magnetic Way Insta

7.1 Linear Servomotor Installation7-573. When joining magnetic ways together, place the second magnetic way temporarily in line and at least 30mm apa

xvii7.4.2 Position Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-247.4.3 Force

7 Wiring7.1.2 SGLGW and SGLGM Linear Servomotors (Coreless Types)7-6The relationship between the dimensions and positioning between the coil assembl

7.1 Linear Servomotor Installation7-777.1.3 SGLFW and SGLFM Linear Servomotor (F-shaped with Core)(1) Magnetic Way InstallationThe SGLFM magnetic wa

7 Wiring7.1.3 SGLFW and SGLFM Linear Servomotor (F-shaped with Core)7-8The magnetic way's magnets exert strong magnetic attraction. Make sure t

7.1 Linear Servomotor Installation7-97(2) Coil Assembly InstallationThe SGLFW coil assembly is constructed of an aluminum or steel base and iron core

7 Wiring7.1.3 SGLFW and SGLFM Linear Servomotor (F-shaped with Core)7-10When two or more magnetic ways are used, first secure one of the magnetic wa

7.1 Linear Servomotor Installation7-117(3) Magnetic AttractionThe linear servomotor is constructed of an opposing coil assembly and magnetic way. The

7 Wiring7.1.4 SGLTW and SGLTM Linear Servomotor (T Type with Iron Core)7-122. Insert the mounting bolts into one side of the magnetic way yoke and t

7.1 Linear Servomotor Installation7-137For safety, install the coil assembly before installing the second or subsequent magnetic way. Refer to (2) Co

7 Wiring7.1.4 SGLTW and SGLTM Linear Servomotor (T Type with Iron Core)7-14* The value in parentheses is the dimension when the magnet protection c

7.1 Linear Servomotor Installation7-157Make sure that hands or tools are not jammed or caught due to the attraction of the magnetic way when the coil

xviii8.4.2 Sequence I/O Signal Monitor Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-318.4.3 Operati

7 Wiring7.2.1 Names and Functions of Main Circuit Terminals7-167.2 Wiring Main CircuitThis section describes typical examples of main circuit wirin

7.2 Wiring Main Circuit7-177(cont’d)Terminal Symbol Name Main Circuit Voltage (V)Maximum Applicable ServomotorCapacity (kW)Functions1, 2DC reactor fo

7 Wiring7.2.2 Wiring Main Circuit Power Supply Connector (Spring Type)7-187.2.2 Wiring Main Circuit Power Supply Connector (Spring Type) SERVOPACKs

7.2 Wiring Main Circuit7-1977.2.3 Typical Main Circuit Wiring Examples(1) Single-phase, 200 V(2) Three-phase, 200 VL1L1CSERVOPACKSGDH-AEALM−0 V2

7 Wiring7.2.3 Typical Main Circuit Wiring Examples7-20(3) Three-phase 400 VDesigning a Power ON SequenceNote the following points when designing th

7.2 Wiring Main Circuit7-217(4) DC Power Supply InputWhen using the main circuit power supply input of the SGDH SERVOPACK with DC power supply, use t

7 Wiring7.3.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK7-227.3 Wiring Encoders7.3.1 Connecting an Encoder (CN2) and Output

7.4 Examples of I/O Signal Connections7-2377.4 Examples of I/O Signal Connections7.4.1 Speed Control Mode* 1. represents twisted-pair wires.* 2

7 Wiring7.4.2 Position Control Mode7-247.4.2 Position Control Mode* 1. : represents twisted-pair wires.* 2. Customers must purchase a 24 VDC po

7.4 Examples of I/O Signal Connections7-2577.4.3 Force Control Mode* 1. : represents twisted-pair wires.* 2. The time constant for the primary f

xix9.8.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-559.8.5 P

7 Wiring7.4.4 I/O Signal Connector (CN1) Terminal Layout7-267.4.4 I/O Signal Connector (CN1) Terminal LayoutThe following diagram shows the termina

7.4 Examples of I/O Signal Connections7-2777.4.5 I/O Signal (CN1) Names and Functions(1) Input SignalsNote: 1. Pin numbers in parentheses () indica

7 Wiring7.4.5 I/O Signal (CN1) Names and Functions7-28(2) Output SignalsNote: 1. Pin numbers in parentheses () indicate signal grounds.2. The func

7.4 Examples of I/O Signal Connections7-2977.4.6 Interface CircuitThis section shows examples of SERVOPACK I/O signal connection to the host control

7 Wiring7.4.6 Interface Circuit7-30(2) Sequence Input Circuit InterfaceCN1 connector terminals 40 to 47 is explained below.The sequence input circui

7.4 Examples of I/O Signal Connections7-317(b) Open-collector Output CircuitCN1 connector terminals 37 to 39: Alarm code output are explained below.A

7 Wiring7.5.1 Wiring Precautions7-327.5 Others7.5.1 Wiring PrecautionsTo ensure safe and stable operation, always observe the following wiring pre

7.5 Others7-3377.5.2 Wiring for Noise Control(1) Wiring ExampleThe SERVOPACK uses high-speed switching elements in the main circuit. It may receive

7 Wiring7.5.2 Wiring for Noise Control7-34(3) Using Noise FiltersUse an inhibit type noise filter to prevent noise from the power supply line. The f

7.5 Others7-3572. Separate the noise filter ground wire from the output lines.Do not accommodate the noise filter ground wire, output lines, and oth

Copyright © 2003 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

xx10.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-1210.3.1 Explanation of Servo Ga

7 Wiring7.5.3 Using More Than One SERVOPACK7-367.5.3 Using More Than One SERVOPACKThe following diagram is an example of the wiring when more than

7.5 Others7-3777.5.4 Operating Conditions on 400-V Power Supply VoltageThere are three types of SGDH SERVOPACKs, for the power supply voltages: Sing

7 Wiring7.5.5 DC Reactor for Harmonic Suppression7-387.5.5 DC Reactor for Harmonic Suppression(1) Reactor TypesThe SERVOPACK has the DC reactor con

7.6 Connecting Regenerative Resistors7-3977.6 Connecting Regenerative Resistors7.6.1 Regenerative Power and Regenerative ResistanceThe kinetic ener

7 Wiring7.6.2 Connecting External Regenerative Resistors7-40(2) Specifications of Built-in Regenerative ResistorIf the amount of regenerative energy

7.6 Connecting Regenerative Resistors7-417(3) Precautions on Selecting External Regenerative ResistorsA built-in regenerative resistor is provided fo

7 Wiring7.6.2 Connecting External Regenerative Resistors7-42(5) Connecting Regenerative ResistorsDo not touch the regenerative resistors because the

7.6 Connecting Regenerative Resistors7-437(c) SERVOPACK’s with Capacity of 7.5 kW No built-in regenerative resistor is provided, so the external rege

7 Wiring7.6.2 Connecting External Regenerative Resistors7-44

8-188Digital Operator/Panel Operator8.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - - - - - - - - - - - 8-28.1.1 Connecting th

xxi12.3 Connection to Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-1612.3.1 Example of Connection to MP2200

8 Digital Operator/Panel Operator8.1.1 Connecting the Digital Operator8-28.1 Functions on Digital Operator/Panel OperatorThis section describes the

8.1 Functions on Digital Operator/Panel Operator8-388.1.2 Key Names and Functions Key names and functions for the digital operator and the panel ope

8 Digital Operator/Panel Operator8.1.3 Basic Mode Selection and Operation8-48.1.3 Basic Mode Selection and OperationThe basic modes include: Status

8.1 Functions on Digital Operator/Panel Operator8-58(2) Using the Panel OperatorTurn ON the powerPress DSPL/SET Key.A basic mode is selected in the f

8 Digital Operator/Panel Operator8.1.4 Status Display8-68.1.4 Status Display (1) Bit Data and MeaningsBit dataCodecdefghiItem Speed or Force Contro

8.1 Functions on Digital Operator/Panel Operator8-78(2) Codes and MeaningsCode MeaningBaseblockServo OFF (motor power OFF)RunServo ON (motor power ON

8 Digital Operator/Panel Operator8.2.1 List of Utility Function Modes8-88.2 Operation in Utility Function Mode (Fn)8.2.1 List of Utility Functi

8.2 Operation in Utility Function Mode (Fn)8-988.2.2 Alarm Traceback Data Display (Fn000)The alarm traceback display can display up to 10 previou

8 Digital Operator/Panel Operator8.2.3 JOG Mode Operation (Fn002)8-108.2.3 JOG Mode Operation (Fn002)The JOG mode operation is designed to move a l

8.2 Operation in Utility Function Mode (Fn)8-118The linear servomotor movement direction differs depending on the setting of parameter Pn000.0 “Di

xxii

8 Digital Operator/Panel Operator8.2.5 Parameter Settings Initialization (Fn005)8-128.2.5 Parameter Settings Initialization (Fn005)This function is

8.2 Operation in Utility Function Mode (Fn)8-1388.2.6 Alarm Traceback Data Clear (Fn006)This function clears the alarm traceback data, which stor

8 Digital Operator/Panel Operator8.2.7 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E)8-148.2.7 Automatic Offset-adjustment o

8.2 Operation in Utility Function Mode (Fn)8-1588.2.8 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F)The adjusting range of th

8 Digital Operator/Panel Operator8.2.9 Password Setting (Protects Parameters from Being Changed) (Fn010)8-168.2.9 Password Setting (Protects Parame

8.2 Operation in Utility Function Mode (Fn)8-1788.2.10 Motor Models Display (Fn011)This mode is used for motor maintenance, set the parameter Fn0

8 Digital Operator/Panel Operator8.2.11 Software Version Display (Fn012)8-188.2.11 Software Version Display (Fn012)Set the Fn012 to select the soft

8.2 Operation in Utility Function Mode (Fn)8-1988.2.12 Application Module Detection Results Clear (Fn014)The alarm A.E7 (application module detec

8 Digital Operator/Panel Operator8.3.1 Setting Parameters8-208.3 Operation in Parameter Setting Mode (Pn)Functions can be selected or adjusted b

8.3 Operation in Parameter Setting Mode (Pn)8-218(c) Parameter IndicationsIn this manual, the parameter is explained with using the following form

1-111Outline1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-21.1.1 Check Items - - - - - - -

8 Digital Operator/Panel Operator8.3.1 Setting Parameters8-22(2) Function Selection Parameters(a) Types of Function Selection ParametersRefer to 12.

8.3 Operation in Parameter Setting Mode (Pn)8-238(b) Example of Changing Function SelectionThe procedure to change the setting of control method s

8 Digital Operator/Panel Operator8.3.2 Input Circuit Signal Allocation8-24For details on each digit of the parameter, see 12.4.2 List of Parameters.

8.3 Operation in Parameter Setting Mode (Pn)8-258(2) Changing the Allocation (Pn50A.0 = 1)Set the parameter in accordance with the relation betwe

8 Digital Operator/Panel Operator8.3.2 Input Circuit Signal Allocation8-261. When using Servo ON, Forward Run Prohibited, and Reverse Run Prohibite

8.3 Operation in Parameter Setting Mode (Pn)8-278(3) Allocating Input SignalsThe procedure to replace Servo ON (/S-ON) signal allocated to CN1-40

8 Digital Operator/Panel Operator8.3.3 Output Circuit Signal Allocation8-288.3.3 Output Circuit Signal AllocationFunctions can be allocated to the

8.3 Operation in Parameter Setting Mode (Pn)8-2981. When two or more signals are allocated to the same output circuit, a signal is output with OR

8 Digital Operator/Panel Operator8.4.1 List of Monitor Modes8-308.4 Operation in Monitor Mode (Un)The monitor mode can be used for monitoring th

8.4 Operation in Monitor Mode (Un)8-3188.4.2 Sequence I/O Signal Monitor DisplayThe following section describes the monitor display for sequence

1 Outline1.1.1 Check Items1-21.1 Checking Products1.1.1 Check ItemsCheck the following items when the products are delivered.If any of the above i

8 Digital Operator/Panel Operator8.4.3 Operation in Monitor Mode8-32(2) Output Signal Monitor DisplayThe status of output signal allocated to each o

8.4 Operation in Monitor Mode (Un)8-3388.4.4 Monitor Display of Reference Pulse Counter and Feedback Pulse CounterThe monitor display of referenc

8 Digital Operator/Panel Operator8.4.5 Allowable Maximum Motor Speed for Dividing Ratio Monitor (For the software version 32 or later)8-348.4.5 All

8.4 Operation in Monitor Mode (Un)8-3588.4.6 Hall Sensor Signal Monitor (For the software version 32 or later)This section describes the monitor

8 Digital Operator/Panel Operator8.4.6 Hall Sensor Signal Monitor (For the software version 32 or later)8-36

9-199Operation9.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-49.2 Trial Operation Using

9 Operation 9-29.8 Operating Using Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-479.8.1 Setting Parameters - - - -

9-39

9 Operation 9-49.1 Trial OperationPerform a trial operation after wiring is completed.Use the following procedure to perform a trial operation. The

9.1 Trial Operation9-59Step Item Description Reference1Installation and mountingInstall the linear servomotor and SERVOPACK according to the installa

1.1 Checking Products1-31(2) SGLFW and SGLFM Linear Servomotors with F-type Iron Core and SGLTW and SGLTM Linear Servomotors with T-type Iron Core No

9 Operation9.2.1 SERVOPACK Setup Procedure9-69.2 Trial Operation Using SERVOPACK Internal References9.2.1 SERVOPACK Setup ProcedureThe setup proce

9.2 Trial Operation Using SERVOPACK Internal References9-79 Motor Forward Direction and Linear Scale Count Direction Do Not MatchIf the motor forwar

9 Operation9.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors9-8(4) Setting the Linear Scale Pitch (Grating)Turn ON the control power

9.2 Trial Operation Using SERVOPACK Internal References9-99(5) Checking the Feedback SignalCheck the following feedback signals to the SERVOPACK.• C

9 Operation9.2.2 Setup Procedure Using Linear Servomotors with Hall Sensors9-10(b) Checking the Concurrence between the Linear Scale Count Direction

9.2 Trial Operation Using SERVOPACK Internal References9-119 Unsuccessful Trial OperationsAn unsuccessful trial operation could be attributed to the

9 Operation9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors9-129.2.3 Setup Procedure Using Linear Servomotors without Hall Senso

9.2 Trial Operation Using SERVOPACK Internal References9-139 When Motor Forward Direction and Linear Scale Count Direction Do Not MatchWhen the moto

9 Operation9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors9-14(5) Setting the Linear Scale PitchTurn ON the control power supply

9.2 Trial Operation Using SERVOPACK Internal References9-159(7) Checking the Feedback SignalCheck the following feedback signals to the SERVOPACK.•

1 Outline1.1.4 Serial Converter Units1-41.1.4 Serial Converter Units NameplateSERIAL CONVERTERMODEL JZDP-D006-156YASKAWA ELECTRIC CORPORATIONJ

9 Operation9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors9-16(b) Checking the Concurrence between the Linear Scale Count Direct

9.2 Trial Operation Using SERVOPACK Internal References9-179(9) Setting the mass ratioSet the mass ratio (Pn103) before starting the polarity detecti

9 Operation9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors9-18(a) Polarity Detection Completion TimingPolarity detection is perf

9.2 Trial Operation Using SERVOPACK Internal References9-199(c) Detection WaveformsThe Sigma Win+ trace function can be used to check whether detecti

9 Operation9.2.3 Setup Procedure Using Linear Servomotors without Hall Sensors9-20(d) Troubleshooting for Polarity Detection ErrorsRefer to the foll

9.2 Trial Operation Using SERVOPACK Internal References9-219(e) Related Parameters(13) Jog Operation from the Panel OperatorAfter checking steps (1)

9 Operation9.3.1 Servo ON Command from the Host9-229.3 Trial Operation for Linear Servomotor without Load from Host Reference Check that the linear

9.3 Trial Operation for Linear Servomotor without Load from Host Reference9-239Step Description Check Method and Remarks1 Configure an input signal c

9 Operation9.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.0)9-249.3.2 Operating Procedure in Speed Control Mode (Pn000 = n.0)The

9.3 Trial Operation for Linear Servomotor without Load from Host Reference9-259 When Position Control is configured at the HostWhen the SERVOPACK co

1.2 Product Part Names1-511.2 Product Part Names1.2.1 Linear Servomotors(1) Coreless SGLGW and SGLGM(2) SGLFW and SGLFM With F-type Iron Core(3) SG

9 Operation9.3.3 Operating Procedure in Position Control Mode (Pn000 = n.1)9-269.3.3 Operating Procedure in Position Control Mode (Pn000 = n.1

9.3 Trial Operation for Linear Servomotor without Load from Host Reference9-27911 Check the motor speed using the Un000 (motor speed) [mm/s].Refer to

9 Operation9-289.4 Trial Operation with the Linear Servomotor Connected to the MachineFollow the procedures below to perform the trial operation.

9.5 Control Mode Selection9-2999.5 Control Mode SelectionThe control modes supported by the SGDH SERVOPACK are described below.Parameter Control Mod

9 Operation9.6.1 Setting the Servo ON Signal9-309.6 Setting Common Basic Functions9.6.1 Setting the Servo ON SignalThis sets the servo ON signal (

9.6 Setting Common Basic Functions9-3199.6.2 Switching the Linear Servomotor Movement DirectionThe movement direction of the linear servomotor can b

9 Operation9.6.3 Setting the Overtravel Limit Function9-329.6.3 Setting the Overtravel Limit FunctionThe overtravel limit function forces movable m

9.6 Setting Common Basic Functions9-339(3) Selecting the Motor Stop Method When Overtravel is UsedThis is used to set the stop method when an overtra

9 Operation9.6.4 Selecting the Stopping Method After Servo OFF9-349.6.4 Selecting the Stopping Method After Servo OFFThe stopping method when the p

9.6 Setting Common Basic Functions9-3599.6.5 Instantaneous Power Loss SettingsDetermines whether to continue operation or turn the servo OFF when th

1 Outline1.2.2 SERVOPACKs1-61.2.2 SERVOPACKs(1) SGDH for 50 W to 5.0 kW Connecting terminal of DC ReactorFor connecting a reactor, refer to 7.5.5

9 Operation9.7.1 Setting Parameters9-369.7 Operating Using Speed Control with Analog Reference9.7.1 Setting ParametersParameter DescriptionPn000 n

9.7 Operating Using Speed Control with Analog Reference9-3799.7.2 Setting Input Signals(1) Speed Reference InputInput the speed reference to the SER

9 Operation9.7.3 Adjusting Offset9-389.7.3 Adjusting OffsetWhen using the speed control, the servomotor may run slowly even if 0 V is specified as

9.7 Operating Using Speed Control with Analog Reference9-399(1) Automatic Adjustment of the Speed Reference OffsetThe automatic adjustment of referen

9 Operation9.7.3 Adjusting Offset9-40(2) Manual Adjustment of the Speed Reference OffsetUse the speed reference offset manual adjustment (Fn00A) in

9.7 Operating Using Speed Control with Analog Reference9-4199.7.4 Soft StartThe soft start function converts the stepwise speed reference inside the

9 Operation9.7.6 Using the Zero Clamp Function9-42(2) Parameter Setting(3) Input Signal SettingParameter MeaningPn000 n.AControl mode selection:

9.7 Operating Using Speed Control with Analog Reference9-4399.7.7 Encoder Signal OutputEncoder feedback pulses processed inside the SERVOPACK can be

9 Operation9.7.7 Encoder Signal Output9-44Relation between Linear Scale by Renishaw and Encoder Output Signals from the SERVO-PACKFor some models o

9.7 Operating Using Speed Control with Analog Reference9-459• Pulse Dividing Ratio SettingPn281 Encoder Output Resolution Setting Range Setting Unit

1.2 Product Part Names1-71(2) SGDH for 7.5 kW * Control circuit terminal and regenerative resistor connecting terminals differ the position of the t

9 Operation9.7.8 Speed Coincidence Output9-469.7.8 Speed Coincidence OutputThe speed coincidence (/V-CMP) output signal is output when the actual m

9.8 Operating Using Position Control9-4799.8 Operating Using Position Control9.8.1 Setting ParametersSet the following parameters for position cont

9 Operation9.8.1 Setting Parameters9-48(3) Clear Signal Form SelectionThe internal processing of the SERVOPACK for the clear signal can be set to ei

9.8 Operating Using Position Control9-4999.8.2 Setting the Electronic Gear(1) Scale Feedback ResolutionThe scale feedback resolution from the SERVOP

9 Operation9.8.2 Setting the Electronic Gear9-50(3) Related Parameters(4) Procedure for Setting the Electronic Gear RatioUse the following procedure

9.8 Operating Using Position Control9-519(5) Electronic Gear Ratio Setting ExampleAn example of electronic gear ratio setting is given below.(6) Elec

9 Operation9.8.3 Position Reference9-529.8.3 Position ReferenceThe servomotor positioning is controlled by inputting a pulse train reference.The pu

9.8 Operating Using Position Control9-539(2) Reference Pulse Input Signal TimingThe reference pulse input signal timing is shown below.Table 9.1 Ref

9 Operation9.8.3 Position Reference9-54(3) Connection Example(a) Connection Example for Line-driver OutputApplicable line driver: SN75174 manufactur

9.8 Operating Using Position Control9-559When the external power supply is used, the circuit will be isolated by a photocoupler. When the SERVO-PACK

iiiAbout this ManualIntended AudienceThis manual is intended for the following users.• Those selecting Σ-II Series servodrives or peripheral devices

1 Outline1.3.1 Single-phase, 200 V Main Circuit1-81.3 Examples of Servo System ConfigurationsThis section describes examples of basic servo system

9 Operation9.8.4 Smoothing9-56(2) Filter-related ParametersPn204 Position Reference Acceleration/Deceleration Time ConstantSetting Range Setting Uni

9.8 Operating Using Position Control9-5799.8.5 Positioning Completed Output SignalThis signal indicates that servomotor movement has been completed

9 Operation9.8.6 Positioning Near Signal9-589.8.6 Positioning Near SignalThis signal indicates that the positioning of the linear servomotor is nea

9.8 Operating Using Position Control9-5999.8.7 Reference Pulse Inhibit Function (INHIBIT)(1) DescriptionThis function inhibits the SERVOPACK from co

9 Operation9.9.1 Setting Parameters9-609.9 Operating Using Force Control9.9.1 Setting ParametersThe following parameters must be set for force con

9.9 Operating Using Force Control9-619 Checking the Internal Force Reference1. Checking the internal force reference with the panel operator:Use th

9 Operation9.9.3 Adjusting the Force Reference Offset9-62Use the following procedure for automatic adjustment of the force reference offset.(2) Manu

9.9 Operating Using Force Control9-639Use the following procedure to manually adjust the force reference offset.9.9.4 Limiting Linear Servomotor Spe

9 Operation9.9.4 Limiting Linear Servomotor Speed during Force Control9-64(2) Internal Speed Limit Function(3) External Speed Limit Function The Pr

9.10 Operating Using Speed Control with an Internally Set Speed9-6599.10 Operating Using Speed Control with an Internally Set Speed• Internally Set

1.3 Examples of Servo System Configurations1-911.3.2 Three-phase, 200 V Main CircuitRegenerativeresistorNoise filterMolded-case circuit breaker(MCCB

9 Operation9.10.2 Input Signal Settings9-669.10.2 Input Signal SettingsThe following input signals are used to switch the operating speed.9.10.3 O

9.10 Operating Using Speed Control with an Internally Set Speed9-679• Example of Operating with Internally Set Speed SelectionThe shock that results

9 Operation9.11.1 Internal Force Limit (Limiting Maximum Output Force)9-689.11 Limiting ForceThe SERVOPACK provides the following four methods for

9.11 Limiting Force9-6999.11.2 External Force Limit (Output Force Limiting by Input Signals)This function allows the force to be limited at specific

9 Operation9.11.2 External Force Limit (Output Force Limiting by Input Signals)9-70(3) Changes in Output Force during External Force Limit Example:

9.11 Limiting Force9-7199.11.3 Force Limiting Using an Analog Voltage ReferenceForce limiting by analog voltage reference limits force by assigning

9 Operation9.11.4 Force Limiting Using an External Force Limit and Analog Voltage Reference9-729.11.4 Force Limiting Using an External Force Limit

9.11 Limiting Force9-739(2) Input Signals9.11.5 Checking Output Force Limiting during OperationThe following signal can be output to indicate that t

9 Operation9.12.1 Setting Parameters9-749.12 Control Mode SelectionThe methods and conditions for switching SERVOPACK control modes are described b

9.12 Control Mode Selection9-759(2) Switching Other Than Internally Set Speed Control (Pn000.1 = 7, 8, 9, A, or B)Use the following signals to switch

1 Outline1.3.3 Three-phase, 400 V Main Circuit1-101.3.3 Three-phase, 400 V Main CircuitDigitaloperatorPersonal computer(Refer to 2.6.1.)Regenerativ

9 Operation9.13.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)9-769.13 Other Output SignalsThe following output signals, which

9.13 Other Output Signals9-7799.13.2 Warning Output (/WARN)• Related ParametersThe following parameter is used to select the alarm code output.9.13

9 Operation9.13.4 Servo Ready (/S-RDY) Output9-789.13.4 Servo Ready (/S-RDY) OutputType Signal NameConnector Pin NumberSetting MeaningOutput /S-RDY

10-11010Adjustments10.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-210.1.1 Servo Gain Adju

10 Adjustments10.1.1 Servo Gain Adjustment Methods10-210.1 Autotuning10.1.1 Servo Gain Adjustment MethodsThe SERVOPACK has the servo gains to dete

10.1 Autotuning10-31010.1.2 List of Servo Adjustment Functions(1) Autotuning FunctionsAutotuning calculates the load mass, which determines the serv

10 Adjustments10.1.2 List of Servo Adjustment Functions10-4(3) Vibration Reduction Functions* Pn40B is valid for the software version 32 or later.F

10.2 Online Autotuning10-51010.2 Online Autotuning 10.2.1 Online Autotuning Online autotuning calculates the load mass during operation of the SERV

10 Adjustments10.2.2 Online Autotuning Procedure10-610.2.2 Online Autotuning Procedure• Do not perform extreme adjustment or setting changes causi

10.2 Online Autotuning10-71010.2.3 Selecting the Online Autotuning Execution MethodThere are three methods that can be used for online autotuning: A

1.4 Applicable Standards1-1111.4 Applicable StandardsΣ-II Series servodrives conform to the following overseas standards.1.4.1 North American Safet

10 Adjustments10.2.4 Machine Rigidity Setting for Online Autotuning10-810.2.4 Machine Rigidity Setting for Online AutotuningThere are ten machine r

10.2 Online Autotuning10-91010.2.5 Method for Changing the Machine Rigidity SettingThe machine rigidity setting is changed in utility function mode

10 Adjustments10.2.6 Saving the Results of Online Autotuning10-1010.2.6 Saving the Results of Online AutotuningFor online autotuning, the most rece

10.2 Online Autotuning10-111010.2.7 Procedure for Saving the Results of Online Autotuning The following procedure is used to save the results of onl

10 Adjustments10.3.1 Explanation of Servo Gain10-1210.3 Manual Tuning10.3.1 Explanation of Servo GainThe block diagram for position control is as

10.3 Manual Tuning10-131010.3.2 Servo Gain Manual TuningThe SERVOPACK has the following parameters for the servo gains. Setting the servo gains in

10 Adjustments10.3.4 Speed Loop Gain10-1410.3.4 Speed Loop Gain* The setting range for the software version 32 or later10.3.5 Speed Loop Integral

10.4 Servo Gain Adjustment Functions10-151010.4 Servo Gain Adjustment Functions10.4.1 Feed-forward ReferencePn109 Feed-forward Setting Range Settin

10 Adjustments10.4.2 Force Feed-forward10-1610.4.2 Force Feed-forwardParameter MeaningPn002n.0Disabledn.2Uses T-REF terminal for force feed-f

10.4 Servo Gain Adjustment Functions10-171010.4.3 Speed Feed-forwardParameter MeaningPn207n.0Disabledn.1Uses V-REF terminal for speed feed-for

1 Outline1.4.2 CE Marking1-12

10 Adjustments10.4.4 Proportional Control Operation (Proportional Operation Reference)10-1810.4.4 Proportional Control Operation (Proportional Oper

10.4 Servo Gain Adjustment Functions10-191010.4.5 Using the Mode Switch (P/PI Switching)Use the mode switch (P/PI switching) function in the followi

10 Adjustments10.4.5 Using the Mode Switch (P/PI Switching)10-20Using the Force Reference Level to Switch Modes (Factory Setting)With this setting,

10.4 Servo Gain Adjustment Functions10-2110Using the Acceleration Level to Switch ModesWith this setting, the speed loop is switched to P control whe

10 Adjustments10.4.6 Setting the Speed Bias10-2210.4.6 Setting the Speed BiasThe settling time for positioning can be reduced by setting the follow

10.4 Servo Gain Adjustment Functions10-231010.4.8 Speed Feedback CompensationThe speed feedback compensation can be used to reduce vibration and all

10 Adjustments10.4.8 Speed Feedback Compensation10-24(1) Adjustment ProcedureThe following procedure explains how to adjust when the speed loop gain

10.4 Servo Gain Adjustment Functions10-251010.4.9 Switching Gain SettingsGain switching by the external signal is possible with the SGDH SERVOPACK.

10 Adjustments10.4.10 Force Reference Filter10-2610.4.10 Force Reference FilterAs shown in the following diagram, the force reference filter contai

10.4 Servo Gain Adjustment Functions10-2710(2) Notch FilterThe notch filter can eliminate specific frequency vibration generated by sources such as r

2-122Selections2.1 Linear Servomotor Model Designation - - - - - - - - - - - - - - - - - - - - - - - - - - 2-22.1.1 Coil Assembly - - - - - - - - -

10 Adjustments10.4.10 Force Reference Filter10-28When the vibration is suppressed but overshooting occurs, increase the Q value and check whether th

10.5 Analog Monitor10-291010.5 Analog MonitorSignals for analog voltage references can be monitored. To monitor analog signals, connect the analog m

10 Adjustments10-30• Related Parameters The following signals can be monitored.* When using speed control or force control, the position error moni

11-11111Inspection, Maintenance, andTroubleshooting11.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

11 Inspection, Maintenance, and Troubleshooting11.1.1 Alarm Display Table11-211.1 Troubleshooting11.1.1 Alarm Display TableThe relation between al

11.1 Troubleshooting11-311A.51Overspeed • The motor speed is excessively high.• The divided output frequency exceeds 15 MHz.AvailableLHLHA.55Linear S

11 Inspection, Maintenance, and Troubleshooting11.1.2 Warning Display11-4* 1. These alarm occur only for the software version 32 or later.* 2. For

11.1 Troubleshooting11-51111.1.3 Alarm Display Table when the Application Module is UsedThe following special alarms will occur when the SGDH SERVOP

11 Inspection, Maintenance, and Troubleshooting11.1.4 Warning Display Table when the Application Module is Used11-611.1.4 Warning Display Table whe

11.1 Troubleshooting11-71111.1.5 Troubleshooting of Alarm and WarningWhen an error occurs in servodrive, an alarm display such as A. and CPF or

2 Selections2.1.1 Coil Assembly2-22.1 Linear Servomotor Model DesignationThis section describes how to check the model and ratings of the linear se

11 Inspection, Maintenance, and Troubleshooting11.1.5 Troubleshooting of Alarm and Warning11-8A.10Overcurrent (An overcurrent flowed through the IGB

11.1 Troubleshooting11-911A.32Regenerative Overload(Detected when the power to the main circuit is turned ON.)Occurred when the control power sup-ply

11 Inspection, Maintenance, and Troubleshooting11.1.5 Troubleshooting of Alarm and Warning11-10A.41Undervoltage(Detected when the SERVO-PACK’s main

11.1 Troubleshooting11-1111A.71A.72OverloadA.71: High LoadA.72: Low LoadOccurred when the control power sup-ply was turned ON. A SERVOPACK board faul

11 Inspection, Maintenance, and Troubleshooting11.1.5 Troubleshooting of Alarm and Warning11-12A.82Encoder Checksum Error(Detected on the encoder si

11.1 Troubleshooting11-1311A.C2Phase Faulty Detection(Occurs when using a hall sensor.)Occurred when the control power sup-ply was turned ON. When Pn

11 Inspection, Maintenance, and Troubleshooting11.1.5 Troubleshooting of Alarm and Warning11-14A.CbEncoder Echoback ErrorOccurred when the control p

11.1 Troubleshooting11-1511* 1. This alarm occurs when the communications is still disabled five seconds after digital opera-tor power supply is ON,

11 Inspection, Maintenance, and Troubleshooting11.1.5 Troubleshooting of Alarm and Warning11-16(2) Warning Display and TroubleshootingTable 11.6 Wa

11.1 Troubleshooting11-171111.1.6 Troubleshooting for Malfunction without Alarm DisplayThe troubleshooting for the malfunctions that causes no alarm

2.2 SERVOPACK Model Designation2-322.2 SERVOPACK Model DesignationSelect the SERVOPACK according to the applied linear servomotor.Rated Output of Ap

11 Inspection, Maintenance, and Troubleshooting11.1.6 Troubleshooting for Malfunction without Alarm Display11-18Linear Servomotor Moves Without Refe

11.1 Troubleshooting11-1911Servomotor Vibrates at about 200 to 400 HzSpeed loop gain value (Pn100) too high.Factory setting: Kv=40.0 HzRefer to 9.3.

11 Inspection, Maintenance, and Troubleshooting11.1.6 Troubleshooting for Malfunction without Alarm Display11-20Overtravel (OT)(Movement over the zo

11.1 Troubleshooting11-2111Servomotor OverheatedAmbient temperature too high Measure servomotor ambient temperature. Reduce ambient temperature to 40

11 Inspection, Maintenance, and Troubleshooting11.2.1 Linear Servomotor Inspection11-2211.2 Inspection and Maintenance11.2.1 Linear Servomotor Ins

11.2 Inspection and Maintenance11-231111.2.3 Parts Replacement Schedule The following electric or electronic parts are subject to mechanical wear or

11 Inspection, Maintenance, and Troubleshooting11.2.3 Parts Replacement Schedule11-24

12-11212Appendix12.1 Linear Servomotor Capacity Selection Examples - - - - - - - - - - - - - - - - - 12-212.2 Calculating the Required Capacity of Re

12 Appendix 12-212.1 Linear Servomotor Capacity Selection Examples(1) Speed Diagram(2) Force Under Constant Load(3) Force at Load Acceleration(4) L

12.1 Linear Servomotor Capacity Selection Examples12-312(5) Verification on the Provisionally Selected Linear Servomotor• Force under constant load•

2 Selections2-42.3 Σ-II Series SERVOPACKs and Applicable Linear Servomotors Linear Σ Series Linear ServomotorΣ-II Series SGDH SERVOPACKSingle-phase

12 Appendix12.2.1 Simple Calculation12-412.2 Calculating the Required Capacity of Regenerative Resistors12.2.1 Simple CalculationWhen driving a li

12.2 Calculating the Required Capacity of Regenerative Resistors12-512Note: The model with (-M) is the combination model with a standard-type coil as

12 Appendix12.2.1 Simple Calculation12-6(3) SERVOPACKs with Capacity of 7.5 kWSERVOPACKs with capacity of 7.5 kW do not have built-in regenerative r

12.2 Calculating the Required Capacity of Regenerative Resistors12-71212.2.2 Calculating the Regenerative EnergyThis section shows the procedure for

12 Appendix12.2.2 Calculating the Regenerative Energy12-8If the above calculation determines that the amount of regenerative power (Wk) processed by

12.2 Calculating the Required Capacity of Regenerative Resistors12-912(2) Servomotor Winding Resistance LossThe following diagrams show the relations

12 Appendix12.2.2 Calculating the Regenerative Energy12-1002001003004005000% 100% 200% 300%60A140C60A253C60A365CModel : SGLGW-Loss(W)Force (%)020040

12.2 Calculating the Required Capacity of Regenerative Resistors12-1112• With High - force Magnetic Ways01002004006007005003000% 100% 200% 400%300%4

12 Appendix12.2.2 Calculating the Regenerative Energy12-12(b) SGLFW Linear ServomotorsForce (%)Loss(W)Model SGLFW-0200400600800100012000% 100% 200%

12.2 Calculating the Required Capacity of Regenerative Resistors12-1312(c) SGLTW Linear ServomotorsForce (%)Force (%)Force (%)Loss(W)Loss(W)Loss(W)30

2.3 Σ-II Series SERVOPACKs and Applicable Linear Servomotors2-52Note: The model combinations shown in this table are used when the maximum rated forc

12 Appendix12.2.2 Calculating the Regenerative Energy12-14Force (%)Loss(W)Force (%)Loss(W)Model SGLTW-0200400600800100012000% 100% 150%50% 200% 240%

12.2 Calculating the Required Capacity of Regenerative Resistors12-1512(3) SERVOPACK’s Absorbable EnergyThe following diagrams show the relationship

12 Appendix12.3.1 Example of Connection to MP2200/MP2300 2-axes Motion Module SVA-0112-1612.3 Connection to Host Controller12.3.1 Example of Conne

12.3 Connection to Host Controller12-171212.3.2 Example of Connection to OMRON’s Motion Control Unit* represents twisted-pair wires.Note: 1. Onl

12 Appendix12.3.3 Example of Connection to OMRON’s Position Control Unit12-1812.3.3 Example of Connection to OMRON’s Position Control Unit* 1. The

12.3 Connection to Host Controller12-191212.3.4 Example of Connection to OMRON’s Position Control Unit C500-NC221 (SERVOPACK in Speed Control Mode)*

12 Appendix12.3.5 Example of Connection to OMRON’s Position Control Unit C500-NC112 (SERVOPACK in Position Control Mode)12-2012.3.5 Example of Conn

12.3 Connection to Host Controller12-211212.3.6 Example of Connection to Mitsubishi’s AD72 Positioning Unit (SERVOPACK in Speed Control Mode)* 1. T

12 Appendix12.3.7 Example of Connection to Mitsubishi’s AD75 Positioning Unit (SERVOPACK in Position Control Mode)12-2212.3.7 Example of Connection

12.4 List of Parameters12-231212.4 List of Parameters12.4.1 Utility Functions ListThe following list shows the available utility functions.Note: Wh

ivQuick access to your required informationRead the chapters marked with 9 to get the information required for your purpose. Visual AidsThe follo

2 Selections2-62.4 Serial Converter Units Models Note: When using a 400-V winding linear servomotor with a 200-V SERVOPACK, the parameters in the se

12 Appendix12.4.2 List of Parameters12-2412.4.2 List of ParametersParameter No.Name Setting Range Unit Factory SettingSetting ValidationReference S

12.4 List of Parameters12-2512Pn001 Function Selection Application Switches 1−−0000 After restart−Pn002 Function Selection Application Switches 2−−00

12 Appendix12.4.2 List of Parameters12-26* 1. If the linear servomotor with a hall sensor is used, software version 32 or later can be used. If sof

12.4 List of Parameters12-2712* 1. The setting range for the software version 32 or later* 2. Available only for the software version 32 or laterPa

12 Appendix12.4.2 List of Parameters12-28* 1. Pn111 will be effective when Pn110.1 is set “0.”* 2. Available for the software version 32 or laterP

12.4 List of Parameters12-2912Parameter No.Name Setting Range UnitFactory SettingSetting ValidationReference SectionPn200 Position Control Reference

12 Appendix12.4.2 List of Parameters12-30* Available only for the software version 32 or laterPn207 Position Control Function Switches −−0000 After

12.4 List of Parameters12-3112* Available for the software version 32 or laterParameter No.Name Setting Range UnitFactory SettingSetting ValidationR

12 Appendix12.4.2 List of Parameters12-32* 1. Available for the software version 32 or later* 2. To reduce any danger while setting up the linear

12.4 List of Parameters12-3312Parameter No.Name Setting Range UnitFactory SettingSetting ValidationReference SectionPn50A Input Signal Selection 1 −−

2.5 Selecting Cables2-722.5 Selecting CablesSERVOPACKLinear scale(To be providedby users.)Linear servomotorHall sensor unitSerial converterunitY

12 Appendix12.4.2 List of Parameters12-34 Input signal polaritiesPn50B Input Signal Selection 2 −−6543 After restart−Parameter No.Name Setting Rang

12.4 List of Parameters12-3512Parameter No.Name Setting Range UnitFactory SettingSetting ValidationReference SectionPn50C Input Signal Selection 3 −−

12 Appendix12.4.2 List of Parameters12-36Parameter No.Name Setting Range UnitFactory SettingSetting ValidationReference SectionPn50D Input Signal Se

12.4 List of Parameters12-3712Pn50E Output Signal Selection 1 −−3211 After restart−Pn50F Output Signal Selection 2 −−0000 After restart−Parameter No.

12 Appendix12.4.2 List of Parameters12-38* Available for the software version 32 or laterPn510 Output Signal Selection 3 −−0000 After restart9.8.6P

12.4 List of Parameters12-3912* 1. Available for the software version 32 or later* 2. Usually set to “0”. If an external regenerative resistor is m

12 Appendix12.4.3 Monitor Modes12-4012.4.3 Monitor ModesThe following list shows available monitor modes.* Available for the software version 32 o

12.5 Parameter Recording Table12-411212.5 Parameter Recording TableUse the following table for recording parameters.Note: Setting validation (“immed

12 Appendix12-42Pn2024Electronic Gear Ratio (Numerator)After restartPn2031Electronic Gear Raio (Denominator)After restartPn2040 msPosition Reference

12.5 Parameter Recording Table12-4312Pn48140 HzPolarity Detection Speed Loop GainImme-diatelyPn48230.00 msPolarity Detection Speed Loop Integral Time

2 Selections2-8Note:A connector is not provided on the linear servomotor end of the main circuit cable, type JZSP-CLN39-. The user must provide th

IndexIndex-1INDEXAadjusting offset...38air gap...

IndexIndex-2I/O signal connections...23INDEXER application module ...

IndexIndex-3frequency - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3type - - - - - - - - - - - - - - - - - - - - - - - -

IndexIndex-4vibration/shock resistance ...3VLT ...

Yaskawa Electric America, Inc., February, 2007 Printed In U.S.A .YEA-SIA-S800-39.21AYASKAWA ELECTRIC AMERICA, INC.Chicago-Corporate Headquarters 212

2.6 Selecting Peripheral Devices2-922.6 Selecting Peripheral Devices2.6.1 Special OptionsPersonalcomputerdDigital operatorHost controllerI/O signal

2 Selections2.6.1 Special Options2-10* For details, refer to the manuals of each application module.**The 50-pin female D-sub output connector mate

2.6 Selecting Peripheral Devices2-1122.6.2 Molded-case Circuit Breaker and Fuse Capacity* 1. Nominal value at the rated load. The specified derati

2 Selections2.6.3 Noise Filters and DC Reactors2-122.6.3 Noise Filters and DC ReactorsNote: 1. If some SERVOPACKs are wired at the same time, sele

2.6 Selecting Peripheral Devices2-1322.6.4 Regenerative Resistors* 1. For the optional JUSP-RA05 Regenerative Resistor Unit.* 2. For the optional

2 Selections2.6.5 Linear Scales2-142.6.5 Linear Scales Note: 1. The linear scale signal is multiplied by eight bits (256 segmentation) inside the

3-133Specifications and Dimensional Drawings3.1 Ratings and Specifications of SGLGW/SGLGM - - - - - - - - - - - - - - - - - - - - 3-23.2 Ratings and

vRelated ManualsRefer to the following manuals as required.Manual Name Manual Number ContentsΣ-II SeriesAC SERVOPACK SGDH/SGDMSAFETY PRECAUTIONSTOBPS8

3 Specifications and Dimensional Drawings 3-23.1 Ratings and Specifications of SGLGW/SGLGM(1) Ratings and Specifications(a) With Standard-force Mag

3.1 Ratings and Specifications of SGLGW/SGLGM3-332. The above specifications show the values under the cooling condition when a heat sink (aluminium

3 Specifications and Dimensional Drawings 3-4(2) Force and Speed Characteristics(a) With Standard-force Magnetic WaysSGLGW-30A050C6.05.04.03.02.01.0

3.1 Ratings and Specifications of SGLGW/SGLGM3-53(b) With High-force Magnetic WaysSGLGW-40A140CMotorspeedm/sForce NSGLGW-40A253CMotorspeedm/sForce NS

3 Specifications and Dimensional Drawings 3-63.2 Ratings and Specifications of SGLFW/SGLFM(1) Ratings and SpecificationsNote: 1. The items marked w

3.2 Ratings and Specifications of SGLFW/SGLFM3-73(2) Force and Speed Characteristics(a) 200-V Class65432100 20 40 60 80 100Motorspeedm/sForce (N)AB65

3 Specifications and Dimensional Drawings 3-8(b) 400-V ClassNote: The dotted line indicates characteristics when the linear servomotor for 400 VAC

3.3 Ratings and Specifications of SGLTW/SGLTM3-933.3 Ratings and Specifications of SGLTW/SGLTM(1) Ratings and Specifications• Time Rating: Continuou

3 Specifications and Dimensional Drawings 3-10* 1. Magnetic attraction will occurr on the coil assembly if the magnetic gaps between the magnet and

3.3 Ratings and Specifications of SGLTW/SGLTM3-113Note: 1. The items marked with an * and “Force and Speed Characteristics” are the values at a motor

viSafety InformationThe following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual

3 Specifications and Dimensional Drawings 3-12(2) Force and Speed Characteristics(a) 200-V ClassSGLTW-20A170A SGLTW-20A320ASGLTW-20A460A65432100 100

3.3 Ratings and Specifications of SGLTW/SGLTM3-133Motorspeedm/sMotorspeedm/sSGLTW-40A400B SGLTW-40A600BForce (N) Force (N)Motorspeedm/sMotorspeedm/sS

3 Specifications and Dimensional Drawings 3-14(b) 400-V ClassNote: The dotted line indicates characteristics when the linear servomotor for 400 VAC

3.4 Mechanical Specifications of Linear Servomotors3-1533.4 Mechanical Specifications of Linear Servomotors(1) Impact Resistance• Impact accelerati

3 Specifications and Dimensional Drawings 3-163.5 Quick Guide to Linear Servomotor Dimensional DrawingsLinear Servomotor Model ReferenceSGLGW / SGL

3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors3-1733.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors3.6.1 SGLG-30 Linear Serv

3 Specifications and Dimensional Drawings3.6.1 SGLG-30 Linear Servomotors3-18(2) Magnetic Way: SGLGM-30AMagnetic Way Model SGLGM-L1mmL2mmNApprox

3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors3-1933.6.2 SGLG-40 Linear Servomotors(1) Coil Assembly: SGLGW-40ACWith a connector ma

3 Specifications and Dimensional Drawings3.6.2 SGLG-40 Linear Servomotors3-20(2) Standard-force Magnetic Way: SGLGM-40C / SGLGM-40CT22.5(0.89

3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors3-213(3) High-force Magnetic Way: SGLGM-40C-M / SGLGM-40CT-MWARNINGaway.May cause inj

viiNotes for Safe OperationRead this manual thoroughly before checking products on delivery, storage and transportation, installation, wiring, operat

3 Specifications and Dimensional Drawings3.6.3 SGLG-60 Linear Servomotors3-223.6.3 SGLG-60 Linear Servomotors(1) Coil Assembly: SGLGW-60ACWit

3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors3-233(2) Standard-force Magnetic Way: SGLGM-60C / SGLGM-60CT25.4 (1.0)25.4 (1.0)* Ref

3 Specifications and Dimensional Drawings3.6.3 SGLG-60 Linear Servomotors3-24(3) High-force Magnetic Way: SGLGM-60C-M / SGLGM-60CT-MWARNINGaw

3.6 Dimensional Drawings of SGLGW/SGLGM Linear Servomotors3-2533.6.4 SGLG-90 Linear Servomotors(1) Coil Assembly: SGLGW-90AC* The value indica

3 Specifications and Dimensional Drawings3.6.4 SGLG-90 Linear Servomotors3-26(2) Magnetic Way: SGLGM-90AMagnetic Way Model SGLGM-L1 L2 NApprox.

3.7 Dimensional Drawings of SGLFW/SGLFM Linear Servomotors3-2733.7 Dimensional Drawings of SGLFW/SGLFM Linear Servomotors3.7.1 SGLF-20 Linear Serv

3 Specifications and Dimensional Drawings3.7.1 SGLF-20 Linear Servomotors3-28(2) Magnetic Way: SGLFM-20ANote: 1. Multiple SGLFM-20A magnetic

3.7 Dimensional Drawings of SGLFW/SGLFM Linear Servomotors3-2933.7.2 SGLF-35 Linear Servomotors(1) Coil Assembly: SGLFW-35AWith a connector ma

3 Specifications and Dimensional Drawings3.7.2 SGLF-35 Linear Servomotors3-30(2) Magnetic Way: SGLFM-35ANote: 1. Multiple SGLFM-35A magnetic

3.7 Dimensional Drawings of SGLFW/SGLFM Linear Servomotors3-3133.7.3 SGLF-50 Linear Servomotors(1) Coil Assembly: SGLFW-50BWith a connector ma

viiiChecking on DeliveryStorage and Transportation• Provide an appropriate stopping device on the machine side to ensure safety.Failure to obse

3 Specifications and Dimensional Drawings3.7.3 SGLF-50 Linear Servomotors3-32(2) Magnetic Way: SGLFM-50ANote: 1. Multiple SGLFM-50A magnetic

3.7 Dimensional Drawings of SGLFW/SGLFM Linear Servomotors3-3333.7.4 SGLF-1Z Linear Servomotors(1) Coil Assembly: SGLFW-1ZBWith a connector ma

3 Specifications and Dimensional Drawings3.7.4 SGLF-1Z Linear Servomotors3-34(2) Magnetic Way: SGLFM-1ZANote: 1. Multiple SGFLM-1ZA magnetic

3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors3-3533.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors3.8.1 SGLT-20 Linear

3 Specifications and Dimensional Drawings3.8.1 SGLT-20 Linear Servomotors3-36(2) Magnetic Way: SGLTM-20ANote: 1. Two magnetic ways for both ends

3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors3-373(3) Magnetic Way with Base: SGLTM-20AYNote: 1. The magnetic way may affect pacema

3 Specifications and Dimensional Drawings3.8.2 SGLT-35A Linear Servomotors3-383.8.2 SGLT-35A Linear Servomotors(1) Coil Assembly: SGLTW

3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors3-393(2) Magnetic Way: SGLTM-35ANote: 1. Two magnetic ways for both ends of coil assem

3 Specifications and Dimensional Drawings3.8.2 SGLT-35A Linear Servomotors3-40(3) Magnet Way with Base: SGLTM-35AYNote: 1. The magnetic way

3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors3-4133.8.3 SGLT-35H Linear Servomotors(1) Coil Assembly: SGLTW-35HWith a conn

ixInstallation• When unpacking and installing magnetic way, check that no metal fragments or magnetized objects near the stator because they may be

3 Specifications and Dimensional Drawings3.8.3 SGLT-35H Linear Servomotors3-42(2) Magnetic Way: SGLTM-35HNote: 1. Two magnetic ways for bot

3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors3-4333.8.4 SGLT-40 Linear Servomotors(1) Coil Assembly: SGLTW-40B* Reference leng

3 Specifications and Dimensional Drawings3.8.4 SGLT-40 Linear Servomotors3-44(2) Magnetic Way: SGLTM-40ANote: 1. Two magnetic ways for both ends

3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors3-453(3) Magnetic Way with Base: SGLTM-40AYNote: 1. The magnetic way may affect pacema

3 Specifications and Dimensional Drawings3.8.5 SGLT-50 Linear Servomotors3-463.8.5 SGLT-50 Linear Servomotors(1) Coil Assembly: SGLTW-50HWit

3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors3-473(2) Magnetic Way: SGLTM-50HNote: 1. Two magnetic ways for both ends of coil assem

3 Specifications and Dimensional Drawings3.8.6 SGLT-80 Linear Servomotors3-483.8.6 SGLT-80 Linear Servomotors(1) Coil Assembly: SGLTW-80B*

3.8 Dimensional Drawings of SGLTW / SGLTM Linear Servomotors3-493(2) Magnetic Way: SGLTM-80ANote: 1. Two magnetic ways for both ends of coil assem

3 Specifications and Dimensional Drawings3.8.6 SGLT-80 Linear Servomotors3-50(3) Magnetic Way with Base: SGLTM-80AYNote: 1. The magnetic way may

4-144SERVOPACK Specifications and DimensionalDrawings4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - 4-24.1.